This is a project where a robot localizes itself using amcl with a known map.
This project uses the robot and environment models found here. It uses ros amcl to localize itself on a map built with this tool.
While this package was created on Ubuntu 20.04, it seems it is crashing because of an update. Try running it in Ubuntu 16.04.
- Required ROS packages:
$ sudo apt-get install ros-<YOUR ROS VERSION>-navigation
$ sudo apt-get install ros-<YOUR ROS VERSION>-map-server
$ sudo apt-get install ros-<YOUR ROS VERSION>-move-base
$ sudo apt-get install ros-<YOUR ROS VERSION>-amcl
- Clone this package to your
<ROS_workspace/src>
- Compile:
$ catkin_make
- Launch world:
$ roslaunch my_robot world.launch
- Launch localization:
$ roslaunch my_robot amcl.launch
The robot should not be well localized at start (orange arrows are the estimated pose):
After sending 2D navigation goals, robot should localize very well:
- Luis M. - GitHub
Distributed under the MIT License. See LICENSE
for more information.
This project was developed for the Robotics Software Engineer nanodegree at Udacity.